/PROG  PNS0252
/ATTR
OWNER		= SHIFT;
COMMENT		= "TOOL1 PICK";
PROG_SIZE	= 1405;
CREATE		= DATE 12-04-11  TIME 21:17:00;
MODIFIED	= DATE 12-04-11  TIME 21:19:02;
FILE_NAME	= TL2_PICK;
VERSION		= 0;
LINE_COUNT	= 35;
MEMORY_SIZE	= 1897;
PROTECT		= READ;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  IF DI[13]=ON OR DI[26]=OFF,JMP LBL[90] ;
   6:   ;
   7:J P[1:CLEAR] 50% CNT50    ;
   8:J P[2:CLEAR] 20% CNT100    ;
   9:L P[3:CLEAR] 300mm/sec CNT50    ;
  10:L P[4:APPROACH] 100mm/sec CNT50 ACC70    ;
  11:L P[5:APPROACH] 300mm/sec CNT50    ;
  12:L P[6:APPROACH] 300mm/sec FINE    ;
  13:  DO[13]=OFF ;
  14:  DO[14]=ON ;
  15:  WAIT DI[14]=ON    ;
  16:  WAIT    .50(sec) ;
  17:L P[7:PICK] 100mm/sec FINE ACC50    ;
  18:  WAIT   1.00(sec) ;
  19:  DO[14]=OFF ;
  20:  DO[13]=ON ;
  21:  WAIT DI[13]=ON    ;
  22:  WAIT   1.00(sec) ;
  23:L P[8:APPROACH] 100mm/sec FINE ACC50    ;
  24:L P[9:APPROACH] 300mm/sec CNT50    ;
  25:  WAIT DI[25]=OFF    ;
  26:L P[4:APPROACH] 300mm/sec CNT50    ;
  27:L P[3:CLEAR] 100mm/sec CNT50 ACC70    ;
  28:L P[2:CLEAR] 300mm/sec CNT50    ;
  29:J P[1:CLEAR] 20% CNT100    ;
  30:  MOVE TO HOME    ;
  31:   ;
  32:  END ;
  33:   ;
  34:  LBL[90] ;
  35:  MESSAGE[ERROR: T2 DETECT OR NOT] ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=      .000 deg,	J2=   -70.000 deg,	J3=    35.000 deg,
	J4=     -.000 deg,	J5=   -35.000 deg,	J6=      .000 deg,
	E1=   107.000 deg
};
P[2:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=     -.000 deg,	J2=   -70.000 deg,	J3=    35.000 deg,
	J4=     -.000 deg,	J5=   -35.000 deg,	J6=      .000 deg,
	E1=   195.159 deg
};
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -10.000 deg,	J2=   -30.000 deg,	J3=    50.000 deg,
	J4=     -.000 deg,	J5=   -50.000 deg,	J6=   100.000 deg,
	E1=   195.729 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    20.857 deg,	J2=   -19.231 deg,	J3=    74.871 deg,
	J4=    83.982 deg,	J5=  -110.009 deg,	J6=    73.747 deg,
	E1=   195.729 deg
};
P[5:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    21.067 deg,	J2=    -7.826 deg,	J3=    67.259 deg,
	J4=    81.209 deg,	J5=  -109.224 deg,	J6=    65.709 deg,
	E1=   195.201 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    18.442 deg,	J2=   -13.906 deg,	J3=    63.420 deg,
	J4=    81.207 deg,	J5=  -106.278 deg,	J6=    62.110 deg,
	E1=   195.201 deg
};
P[7:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3228.642  mm,	Y =   474.748  mm,	Z = -1634.817  mm,
	W =  -179.331 deg,	P =    89.667 deg,	R =    90.669 deg,
	E1=   195.201 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    17.502 deg,	J2=   -17.599 deg,	J3=    63.451 deg,
	J4=    81.671 deg,	J5=  -105.452 deg,	J6=    62.272 deg,
	E1=   195.201 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=    20.276 deg,	J2=   -13.175 deg,	J3=    67.246 deg,
	J4=    81.548 deg,	J5=  -108.501 deg,	J6=    65.811 deg,
	E1=   195.201 deg
};
/END
